Publications

This paper reports on the simulation of the motion of an aquatic robot with an internal spinning rotor. We develop two mathematical models of robot motion in a fluid: the model of motion based on the Kirchhoff equations for the motion of a rigid body in a fluid and a model based on the Navier – Stokes equations. In addition to the simulation, we develop a prototype of the aquatic robot with a spinning rotor, with which we conduct real experiments. In this paper, we present the results of real experiments and simulations and draw conclusions based on them.

This paper is concerned with the experimental development of the stabilizing regulator for a spherical pendulum-type robot moving on an oscillating base. Using a mathematical model of the motion of the spherical robot with an internal pendulum mechanism, a regulator stabilizing the lower position of the pendulum is developed. The developed regulator has been tested in practice by means of a real prototype of the spherical robot. The results of real experiments are presented to assess the stabilization of the lower position of the pendulum of the spherical robot during its motion along a straight line on a plane executing longitudinal oscillations, and during the stabilization of the lower position of the pendulum, when the spherical shell remains fixed relative to the plane.

This paper describes the design of an aquatic robot moving on the surface of a fluid and driven by two internal moving masses. The body of the aquatic robot in cross section has the shape of a symmetrical airfoil with a sharp edge. In this prototype, two internal masses move in circles and are rotated by a single DC motor and a gear mechanism that transmits torque from the motor to each mass. Angular velocities of moving masses are used as a control action, and the developed kinematic scheme for transmitting rotation from the motor to the moving masses allows the rotation of two masses with equal angular velocities in magnitude, but with a different direction of rotation. It is also possible to install additional tail fins of various shapes and sizes on the body of this robot. Also in the work for this object, the equations of motion are presented, written in the form of Kirchhoff equations for the motion of a solid body in an ideal fluid, which are supplemented by terms of viscous resistance. A mathematical description of the additional forces acting on the flexible tail fin is presented. Experimental studies on the influence of various tail fins on the speed of motion in the fluid were carried out with the developed prototype of the robot. In this work, tail fins of the same shape and size were installed on the robot, while having different stiffness. The experiments were carried out in a pool with water, over which a camera was installed, on which video recordings of all the experiments were obtained. Next processing of the video recordings made it possible to obtain the object’s movements coordinates, as well as its linear and angular velocities. The paper shows the difference in the velocities developed by the robot when moving without a tail fin, as well as with tail fins having different stiffness. The comparison of the velocities developed by the robot, obtained in experimental studies, with the results of mathematical modeling of the system is given.